CN205438612U - Gentle and agreeable rotation joint with torque restriction function - Google Patents
Gentle and agreeable rotation joint with torque restriction function Download PDFInfo
- Publication number
- CN205438612U CN205438612U CN201620007355.8U CN201620007355U CN205438612U CN 205438612 U CN205438612 U CN 205438612U CN 201620007355 U CN201620007355 U CN 201620007355U CN 205438612 U CN205438612 U CN 205438612U
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- torque
- spring
- joint
- submissive
- bearing
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Abstract
The utility model discloses a gentle and agreeable rotation joint with torque restriction function, including joint drive device and torque restraining device, torque restraining device includes the bearing base, and bearing base endotheca has a rolling disc, and rolling disc input torque end and torque input flange's output torque holds fixed connection, torque input flange is connected with the joint drive device, the relative bearing base of torque input flange rotates, fixed limit switch on the bearing base inside wall, being equipped with a plurality of dogs on the rolling disc, driving that the rolling disc rotates and dog when touching limit switch at torque input flange, the joint stops the function. Torque restraining device can touch limit switch when load exceedes the threshold value of setting for, realize the operation that stops of motor. Spring guide arm position adjustable, the threshold value size of adjusting running torque through the regulating spring guide arm, the spring can the loading pretightning force, and system's rigidity is adjustable, possess passive flexibility, two -way rigidity is adjustable, have two -way torque restriction function.
Description
Technical field
This utility model belongs to robotics, relates to a kind of submissive cradle head with torque limit function.
Background technology
Along with modern industry and the development of robotics, robot just comes out of from the safe fence of factory, works shoulder to shoulder with workman, harmonious coexistence in the environment of opening, jointly completes task, and this proposes the highest requirement to the safety of robot.
Conventional industrial robot typically uses rigidity joint, utilizes motor and decelerator etc. to constitute driver element, joint is carried out accurate position or speed controlling.Although this mode kinematic accuracy is high, but compliance is poor, it is difficult to adapt to the working environment of man-machine collaboration, when machine person to person and surrounding collide, easily to people or self damage.
In recent years, people begin to focus on the submissive or design of elastic joint.It is all that the method using torque sensing and Active Compliance Control improves flexibility of joint that Chinese patent CN102626930A has the mechanical arm modular joint that dead electricity braking and the mechanical arm modular joint of multiple perceptive function and Chinese patent CN102218739A have power position perceptive function, they drive joint motions by motor and decelerator, torque sensor is utilized to measure joint output torque, realize high-precision power control and contact with the stable of environment, but high power/torque sensor and complicated power/bit-steering algorithm limit the extensive application of this mode；Chinese patent CN1275470A Robert controller, setting value according to the power in work coordinate system Yu moment limits the generation moment driving diarthrodial servomotor, external force action can be followed neatly when there being external force to apply on it, this equipment is utilized to control joint of robot, flexibility of joint can be improved, but do not possess intrinsic safety.
By elastomeric elements such as additional springs on joint so that it is have passive compliance, the flexibility in joint can be improved, and simple in construction, with low cost, there is intrinsic safety.Chinese patent CN102152319A elastic driving revolute joint, use Worm Wheel System, on worm screw, additional compression spring makes joint have pooling feature, pretightning force by pad regulation spring, the rigidity of system can be changed, but two-way submissive in order to realize, it is respectively mounted compression spring in worm screw both sides, adds structure complexity；Chinese patent CN102632508A mono-kind is applicable to the plane torsion spring of joint of robot, can be embedded in joint of robot, the problem solving robot and human and environment secure interactive, and more saves space than conventional springs；Chinese patent CN102632509A has the flexible drive modularized joint of force-feedback control and utilizes this plane torsion spring and angular transducer to constitute force signal detection device, reliably torque feedback signals, deformable elastic torsion spring can be provided to make again joint have submissive and energy storage mechanism.This joint achieves two-way submissive by a plane torsion spring, but spring can not load pretightning force, and system stiffness is non-adjustable；Chinese patent CN102744731A integral rotary and the method determining integral rotary zero-bit, the uniform spring of circumferencial direction and incremental encoder is utilized to achieve transmission and the measurement of moment, although joint has flexibility and force sensing function, but structure is complicated, and initial tension of spring is non-adjustable；The passive joint of robot that Chinese patent CN101973037 adjustable rigidity is elastic, by effective active length of low-power machine regulation plane noncontact scroll spring, carries out the regulation of rigidity, but can only realize unidirectional submissive in joint.
Utility model content
The purpose of this utility model is for overcoming above-mentioned the deficiencies in the prior art, it is provided that a kind of submissive cradle head with torque limit function, possesses passive flexibility, two-way stiffness is adjustable, have two-way torque limit function.
For achieving the above object, this utility model employing following technical proposals:
A kind of submissive cradle head with torque limit function, including articulated driving equipment and torque restricting means, described torque restricting means includes bearing base, rotation dish it is cased with in described bearing base, rotation dish input torque end is fixing with the output torque end of torque input flange to be connected, and described torque input flange is connected with articulated driving equipment；Described torque input flange rotates relative to bearing base, and described bearing base medial wall is fixed limit switch, and described rotation dish is provided with some blocks, and when torque input flange drives turn disc, block touches limit switch, joint decommissions.
Described articulated driving equipment includes that joint pedestal, the side of described joint pedestal are fixed with motor, and the opposite side of joint pedestal is fixing with decelerator to be connected；The output shaft of described motor is connected with the input of decelerator, and the output shaft of described decelerator is fixing with the input torque end of torque input flange to be connected.
The boss of described torque input flange is provided with oscillating bearing, matches with bearing cap in the outside of torque input flange, bearing cap to oscillating bearing with support force.
Described bearing cap is connected with bearing base bottom, limits the relative position of oscillating bearing.
Described bearing base includes annulated column type base, stationary half column type sidewall on described annulated column type base；Limit switch is fixed in the inner side of described semi-ring column type sidewall.
Described rotation dish includes that end disk, disk top, the described end are fixed with several blocks；When torque is excessive, limit switch touches joint and can decommission with block.
Preferably, described block quantity be two and more than, the side of limit switch is corresponded at least provided with a block on end disk, the opposite side of limit switch is corresponded at least provided with a block on end disk, block contacts with torque threshold setting device cooperation away from the side of limit switch, torque threshold setting device adjustable settings joint torque threshold value, when joint torque changes, block rotates and forces torque threshold setting device to move, and joint torque steadily rear torque threshold setting device drives block to recover to original state；Torque to joint both direction limits.
Described torque threshold setting device includes that spring bearer plate, described spring bearer plate match with the semi-ring column type sidewall of bearing base, and spring bearer plate is fixed on annulated column type base；The inner side of described spring bearer plate is connected with spring, and spring end is fixed on spring stress plate；Described spring stress plate contacts with the block of rotation dish cooperation, when torque changes, block rotates relative to bearing base, block extrusion spring stressed plate, spring stress plate moves relative to spring bearer plate, and when torque is steady simultaneously, spring stress plate can recover to original state.
Described spring bearer plate is semicircle columnar structures, and the lateral surface of described spring bearer plate is arc surface, and medial surface is plane；Lateral surface be arc surface can with bearing base match synthesis full circle cylindricality, medial surface is that plane can match with the semi-ring column type sidewall of bearing base, and more convenient installing component in plane.
Described spring bearer plate sidepiece offers middle through-hole, is installed with spring guide in middle through-hole, is cased with spring outside spring guide, and spring guide end is connected with regulation securing member by adjustment sheet；Regulation securing member can regulate the compression situation of spring, and then the threshold size of regulation rotating torque, and when reaching the threshold value of rotating torque, block touches limit switch, and joint decommissions.
Described spring stress plate end is connected with spring bearer plate sidepiece by guide post；Ensured the stationarity of spring stress plate motion by guide post, spring stress plate moves under the restriction effect of guide post and linear bearing.
Described spring bearer plate sidepiece and guide post corresponding section are provided with through hole, are fixed with linear bearing in described through hole, and linear bearing is connected with guide post；Guide post moves in linear bearing, and frictional resistance is little, and precision is high.
The beneficial effects of the utility model are:
Torque limit joint of the present utility model uses modularized joint, it is simple to installation, maintenance and replacing, and uses mechanical structure form cost-effective.
Torque restricting means of the present utility model can touch limit switch, it is achieved shutting down of motor when torque exceedes the threshold value of setting, thus realize the torque limit function in joint.
This utility model passes through spring bearer plate and the setting of spring stress plate, and spring stress plate can be made to follow block operating when torque changes, and after torque steadily, spring stress plate can recover to original state, it is ensured that the normal work in joint.
This utility model can adjust spring guide position by regulation securing member, by the threshold size of regulation spring guide regulation rotating torque；Spring can load pretightning force, and system stiffness is adjustable；This utility model joint possesses passive flexibility, two-way stiffness is adjustable, have two-way torque limit function.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model；
Fig. 2 is the articulated driving equipment schematic diagram in Fig. 1；
Fig. 3 is the torque restricting means structural representation in Fig. 1；
Fig. 4 is another angle schematic diagram of Fig. 3；
Fig. 5 is bearing base structural representation；
Fig. 6 rotation dish structural representation；
Fig. 7 is the structural representation of limit switch；
Fig. 8 is the structural representation of spring bearer plate；
Fig. 9 is torque input flange structural representation；
In figure, 1, articulated driving equipment, 2, torque restricting means, 3, motor, 4, joint pedestal, 5, decelerator, 6, bearing base, 7, rotation dish, 8, limit switch, 9, spring stress plate, 10, guide post, 11, spring bearer plate, 12, spring guide, 13, compression spring, 14, linear bearing, 15, torque input flange, 16, bearing cap, 17, regulation screw.
Detailed description of the invention
With embodiment, this utility model is further illustrated below in conjunction with the accompanying drawings.
As it is shown in figure 1, a kind of submissive cradle head with torque limit function is dimerous by articulated driving equipment 1 and torque restricting means 2.
As in figure 2 it is shown, articulated driving equipment 1 includes motor 3, joint pedestal 4, decelerator 5 and motor driver.Torque restricting means 2 includes bearing base 6, rotation dish 7, limit switch 8, spring stress plate 9, guide post 10, spring bearer plate 11, spring guide 12, compression spring 13, linear bearing 14, torque input flange 15, bearing cap 16, regulation screw 17, adjustment sheet, crossed roller bearing.It is characterized in that: joint pedestal 4 is designed with inner ring installing hole and outer ring installing hole, motor 3 shell is fixed on the side of joint pedestal 4 by inner ring installing hole by screw, decelerator 5 shell is fixed on the opposite side of joint pedestal 4 by outer ring installing hole by screw, motor 3 output shaft is connected with decelerator 5 input, motor 3 exports torque and is transferred to decelerator 5 output shaft after decelerator 5 amplifies, and motor driver is installed and is electrically connected with motor 3.
As Figure 3-Figure 4, decelerator 5 output shaft is connected the input torque end of torque input flange 15 and is fixed by screw, bearing cap 16 is arranged on the periphery of torque input flange 15, crossed roller bearing is arranged on the boss of torque input flange 15, and bearing cap 16 supports crossed roller bearing shell；The output torque end of torque input flange 15 connects rotation dish 7 input torque end and is screwed, and torque input flange 15 rotates relative to bearing base 6, and bearing cap 16 coordinates with bearing base 6, the relative position of fixing crossed roller bearing.Limit switch 8 is arranged on bearing base 6 inwall, is positioned at rotation dish 7 opening part；Spring bearer plate 11 is fixed by screws in the lid opening part of bearing base 6, spring guide 12 one end is arranged on spring stress plate 9 interstitial hole, compression spring 13 is arranged on spring guide 12, spring guide 12 other end is arranged in the intermediate throughholes of spring bearer plate 11, adjustment sheet is placed on after spring guide 12, installs regulation screw 17 after adjustment sheet；Guide post 10 one end is arranged on linear bearing 14, and linear bearing 14 is arranged on the through hole of spring bearer plate 11 both sides and is screwed, and the other end is arranged on 9 liang of side through hole of spring stress plate.
Spring bearer plate 11 is semicylinder, and cylinder includes linear bearing 14 installing hole for through hole, spring guide 12 installing hole.
When mounted, the submissive cradle head with torque limit function being arranged on the joint of robot of traditional form, when the torque suffered by joint of robot is not above the rotating torque set, joint of robot runs well；When the torque suffered by joint exceedes the maximum that this submissive cradle head sets, this device touches limit switch, makes joint power-off, and robot decommissions.
The function mode in this utility model joint is: motor 3 operating drives decelerator 5 to move, and decelerator 5 band dynamic torque input flange 15 moves.Torque input flange 15 drives torque restricting means 2 unitary rotation above.Compression spring 13 is with certain rigidity, when rotating clockwise when, be can be seen that by Fig. 1, the opposite planar generation relative movement of spring stress plate 9 and spring bearer plate 11, the spring stress plate 9 on the block compressing top on top, in guide post 10 retraction linear bearing 14, the spacing of spring stress plate 9 and spring bearer plate 11 diminishes；When rotating counterclockwise when, the spring stress plate 9 of the block compressing bottom of bottom, in guide post 10 retraction linear bearing 14, the spacing of spring stress plate 9 and spring bearer plate 11 diminishes；After torque change steadily, compression spring 13 drives spring stress plate 9 to return to original state.
When motor 3 just starts running suddenly when, spring stress plate 9 will not reach poised state at the very start, and rotation dish can drive block to swing back and forth until reaching balance, all can carry out same process when that torque changing each time.
The position of spring guide 12 can be regulated by regulation screw 17, the most just can adjust the pretightning force of compression spring 13 itself, and then the threshold size of regulation torque.When torque exceedes certain threshold value when, namely spring stress plate and the maximum of spring bearer plate relative movement, the now block on rotation dish 7, touch limit switch, cause machine power-off, decommission.Regulating compression spring 13 by regulation screw 17 and can regulate the size of torque threshold, rigidity changes the most therewith simultaneously.
Although detailed description of the invention of the present utility model is described by the above-mentioned accompanying drawing that combines; but the not restriction to this utility model protection domain; one of ordinary skill in the art should be understood that; on the basis of the technical solution of the utility model, those skilled in the art need not to pay various amendments or deformation that creative work can make still within protection domain of the present utility model.
Claims (10)
1. a submissive cradle head with torque limit function, it is characterized in that, including articulated driving equipment and torque restricting means, described torque restricting means includes bearing base, rotation dish it is cased with in described bearing base, rotation dish input torque end is fixing with the output torque end of torque input flange to be connected, and described torque input flange is connected with articulated driving equipment；Described torque input flange rotates relative to bearing base, and described bearing base medial wall is fixed limit switch, and described rotation dish is provided with some blocks.
Having the submissive cradle head of torque limit function the most as claimed in claim 1, it is characterized in that, described articulated driving equipment includes that joint pedestal, the side of described joint pedestal are fixed with motor, and the opposite side of joint pedestal is fixing with decelerator to be connected；The output shaft of described motor is connected with the input of decelerator, and the output shaft of described decelerator is fixing with the input torque end of torque input flange to be connected.
Having the submissive cradle head of torque limit function the most as claimed in claim 1, it is characterized in that, the boss of described torque input flange is provided with oscillating bearing, matches with bearing cap in the outside of torque input flange, bearing cap to oscillating bearing with support force；Described bearing cap is connected with bearing base bottom, limits the relative position of oscillating bearing.
4. the submissive cradle head with torque limit function as described in claim 1 or 3, is characterized in that, described bearing base includes annulated column type base, stationary half column type sidewall on described annulated column type base；Limit switch is fixed in the inner side of described semi-ring column type sidewall.
Having the submissive cradle head of torque limit function the most as claimed in claim 4, it is characterized in that, described rotation dish includes that end disk, disk top, the described end are fixed with some blocks.
There is the submissive cradle head of torque limit function the most as claimed in claim 5, it is characterized in that, described block quantity be two and more than, the side of limit switch is corresponded at least provided with a block on end disk, the opposite side of limit switch is corresponded at least provided with a block on end disk, block contacts with torque threshold setting device cooperation away from the side of limit switch, torque threshold setting device adjustable settings joint torque threshold value, when joint torque changes, block rotates and forces torque threshold setting device to move, joint torque steadily rear torque threshold setting device drives block to recover to original state.
There is the submissive cradle head of torque limit function the most as claimed in claim 6, it is characterized in that, described torque threshold setting device includes that spring bearer plate, described spring bearer plate match with the semi-ring column type sidewall of bearing base, and spring bearer plate is fixed on annulated column type base；The inner side of described spring bearer plate is connected with spring, and spring end is fixed on spring stress plate；Described spring stress plate contacts with the block of rotation dish cooperation.
Having the submissive cradle head of torque limit function the most as claimed in claim 7, it is characterized in that, described spring bearer plate is semicircle columnar structures, and the lateral surface of described spring bearer plate is arc surface, and medial surface is plane.
There is the submissive cradle head of torque limit function the most as claimed in claim 8, it is characterized in that, described spring bearer plate sidepiece offers middle through-hole, is installed with spring guide in middle through-hole, being cased with spring outside spring guide, spring guide end is connected with regulation securing member by adjustment sheet.
Having the submissive cradle head of torque limit function the most as claimed in claim 7, it is characterized in that, described spring stress plate end is connected with spring bearer plate sidepiece by guide post；Described spring bearer plate sidepiece and guide post corresponding section are provided with through hole, are fixed with linear bearing in described through hole, and linear bearing is connected with guide post.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620007355.8U CN205438612U (en) | 2016-01-04 | 2016-01-04 | Gentle and agreeable rotation joint with torque restriction function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620007355.8U CN205438612U (en) | 2016-01-04 | 2016-01-04 | Gentle and agreeable rotation joint with torque restriction function |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205438612U true CN205438612U (en) | 2016-08-10 |
Family
ID=56602020
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620007355.8U Withdrawn - After Issue CN205438612U (en) | 2016-01-04 | 2016-01-04 | Gentle and agreeable rotation joint with torque restriction function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205438612U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105500401A (en) * | 2016-01-04 | 2016-04-20 | 山东省科学院自动化研究所 | Flexible rotational joint with torque limitation function |
| CN106142132A (en) * | 2016-09-22 | 2016-11-23 | 电子科技大学中山学院 | Robot flexible joint with continuously adjustable rigidity |
| CN106426267A (en) * | 2016-08-31 | 2017-02-22 | 华南理工大学 | Floating-spring-based joint with rigidity adjustable continuously |
| CN110434894A (en) * | 2019-06-27 | 2019-11-12 | 北京康力优蓝机器人科技有限公司 | A kind of robot integral type joint rotary actuator |
| CN113601163A (en) * | 2021-07-07 | 2021-11-05 | 北京工业大学 | Flexible wrist joint for assembling fingertip gyroscope |
-
2016
- 2016-01-04 CN CN201620007355.8U patent/CN205438612U/en not_active Withdrawn - After Issue
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105500401A (en) * | 2016-01-04 | 2016-04-20 | 山东省科学院自动化研究所 | Flexible rotational joint with torque limitation function |
| CN105500401B (en) * | 2016-01-04 | 2017-05-31 | 山东省科学院自动化研究所 | A kind of submissive cradle head with torque limit function |
| CN106426267A (en) * | 2016-08-31 | 2017-02-22 | 华南理工大学 | Floating-spring-based joint with rigidity adjustable continuously |
| CN106142132A (en) * | 2016-09-22 | 2016-11-23 | 电子科技大学中山学院 | Robot flexible joint with continuously adjustable rigidity |
| CN110434894A (en) * | 2019-06-27 | 2019-11-12 | 北京康力优蓝机器人科技有限公司 | A kind of robot integral type joint rotary actuator |
| CN113601163A (en) * | 2021-07-07 | 2021-11-05 | 北京工业大学 | Flexible wrist joint for assembling fingertip gyroscope |
| CN113601163B (en) * | 2021-07-07 | 2022-07-19 | 北京工业大学 | Flexible wrist joint for assembling fingertip gyroscope |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20160810 Effective date of abandoning: 20170531 |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20160810 Effective date of abandoning: 20170531 |
|
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |